Apparatus and system for correction based upon detecting a camera shaking

ABSTRACT

A detecting system for detecting a deviation of a camera from shaking has at least two shaking detectors and one correcting device. The first shaking detector detects a camera shaking corresponding to one axis of a camera coordinate system. The second shaking detector detects a camera shaking corresponding to another axis of the camera coordinate system. The correcting device only adjusts a device corresponding to the first shaking detector in an optical system when a maximum or minimum value is detected on the output signal from the second shaking detector.

BACKGROUND OF THE INVENTION

1. Field of the invention

This invention is generally related to an apparatus and a method forcorrection based upon detecting a deviation from a proper position of acamera, and more particularly is related to an apparatus for correctingdeviation from the proper camera position caused by shaking, such ashand shaking.

2. Background of the Invention

Digital video cameras and digital still cameras, as kinds of camera arewell known. When this kind of cameras shoot a subject, the opticalsystem of the camera bring rays of light corresponding to the subject toa focus at an image pickup device and change the information of thelight into the electric signals.

When the camera shaking occur in the digital video camera, takenpictures slightly oscillate according to the camera shaking. Therefore,it is hard to watch the reproduced pictures of digital video camera.

In the digital still camera, the camera can not realize the shortexposure time because the sensitivity of the image pickup device islimited. The digital still camera goes out of focus when the camerashaking occurs.

Therefore, the pictures taken by the digital still camera become blurry.

Certain cameras have a function of correcting deviation caused by aslight oscillation based on a hand of an operator holding the camerashaking or by another cause for making the camera shake.

There are some methods for detecting a camera shaking, and such methodsutilize devices such as angular velocity sensors, a piezoelectric gyrosensor, an acceleration sensor, and an optically detecting sensor. Asanother method for correcting a camera shaking, an image processingmethod is also known. The most popular method for addressing camerashaking utilizes a piezoelectric gyro sensor for detecting a rotarymotion of the camera body.

Furthermore, detecting methods that utilize combinations of the abovedevices have also been suggested.

When the camera is required to correction with extreme precision, thedetecting system of the camera has to have six sensors and sixactuators. The three sensors detect rotations around each three axes.The other three sensors detect parallel motions along each three axes.The actuators also adjust the optical devices such as the CCD or thelens according to the output of the sensors.

However, the present inventor has realized that if the camera have thesix sensors and the six actuators, the whole size of the camera is huge.

The direction of the camera shaking most susceptible to taking an imageis a side-to-side motion that is called yawing and an up-and-down motionthat is called pitching.

If the other camera shakings are ignored, the system absolutely needstwo sensors and two actuators.

In this case, even if the camera is equipped with four devices, the sizeof the camera is still big.

SUMMARY OF THE INVENTION

Accordingly, one object of the present invention is to provide a novelsystem for correcting for any adverse influences generated by a camerashaking.

A more specific object of the present invention is to provide a novelsystem which overcomes the drawbacks in the background art as notedabove.

To solve the above-noted and other problems, according to one aspect ofthe present invention, a detecting system for a deviation of a camerafrom shaking has at least two shaking detectors and one correctingdevice.

The first shaking detector detects a camera shaking corresponding to oneaxis of a camera coordinate. The second shaking detector detects acamera shaking corresponding to another axis of the camera coordinate.The correcting device only adjusts a device corresponding to the firstshaking detector in an optical system when a maximum or minimum value isdetected on the output signal from the second shaking detector.

BRIEF DESCRIPTION OF THE DRAWINGS

A more complete appreciation of the present invention and many of theattendant advantages thereof will be readily obtained as the samebecomes better understood by reference to the following detaileddescription when considered in connection with the accompanyingdrawings, wherein:

FIG. 11 is a conceptional model of a camera according to the presentinvention;

FIG. 2(a) is a perspective view of a camera according to a firstembodiment of the present invention;

FIG. 2(b) shows a location between pairs of Bimorph actuators and a CCDdevice in the present invention;

FIG. 3 is a spectrum of angle detected by the angular velocity sensor inthe present invention;

FIG. 4 is a relation between the spectrums of the angular velocitysensors in the present invention;

FIG. 5 is a flow chart for describing the present invention;

FIG. 6(a) is a perspective view of a camera according to a secondembodiment of the present invention;

FIG. 6(b) is a cross-sectional view of an actuator for the CCD in thesecond embodiment of the present invention;

FIG. 7 is a block diagram for a total system in which a position of acorrection lens is adjusted when camera shaking occurs according to athird embodiment of the present invention;

FIG. 8 is a block diagram for a total system in which a position of acorrection lens is adjusted by a Vari-angle prism and a position of aCCD device is adjusted when camera shaking occurs according to a fourthembodiment;

FIG. 9(a) is a cross-sectional view of an optical system in which aVail-angle prism is employed when camera shaking does not occur;

FIG. 9(b) is a cross-sectional view of an optical system in which aVari-angle prism is employed when camera shaking does occur;

FIG. 10 is a perspective view of a camera according to a fifthembodiment of the present invention;

FIG. 11 is a cross-sectional view of a relation between outputs ofacceleration sensors and a rotation angle according to the fifthembodiment;

FIG. 12 is a perspective view of a camera according to a sixthembodiment of the present invention;

FIG. 13 is a perspective view of a camera according to a seventhembodiment of the present invention;

FIG. 14 is a cross-sectional view of a location of a camera body when acamera shakes around a Xs axis;

FIG. 15 is a block diagram for correcting a camera shaking according tothe present invention;

FIG. 16(a) is a spectrum of detected acceleration by accelerationsensors in the present invention;

FIG. 16(b) is a spectrum of frequency when a camera shaking occurs;

FIG. 17 is a relation between exposure periods and delayed times in thespectrum of detected angle by the angular velocity sensors; and

FIG. 18 is a perspective view of a camera according to a eighthembodiment of the present invention.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

A description will now be given of preferred embodiments according tothe present invention by referring now to the drawings, wherein likereference numerals designate identical or corresponding structuresthroughout the views.

FIG. 1 shows a conceptional view of a camera 1 with a correctionmechanism for correcting of camera shaking according to the presentinvention.

The camera 1 includes a camera body 10 and a lens 11. An angularvelocity sensor X, an angular velocity sensor Y, such as piezoelectricgyro sensor, an image pickup device 12 are set up in the camera body 10.The essential structure of the camera according to the present inventionhas two sensors and an actuator for adjusting a position of the opticaldevice according to signal-detected by one of two sensors.

FIG. 2(a),(b) shows one preferred embodiment of a camera 1 with acorrection mechanism for correcting for camera shaking according to thepresent invention.

The camera 1 includes a camera body 10 and a lens 11. An angularvelocity sensor X, an angular velocity sensor Y, such as piezoelectricgyro sensor, an image pickup device 12 are set up in the camera body 10.A board equipped with a controller support the image pickup device 12.In this embodiment, the image pickup device 12 employs a 2-dimensionalCCD.

The camera coordinate system is defined such that the direction of theoptical axis is the Zs axis, the gravity direction is the Ys axis andthe horizontal direction perpendicular to both the Zs axis and the Ysaxis is the Xs axis. The angular velocity sensors X, Y are located onthe Xs axis and Ys axis each other. In the above camera coordinatesystem, the point of origin is at a center of the imaging surface of theCCD 12.

When an operator holds the camera 1 at a general position, the YZ planebecomes a vertical plane against a horizontal plane, and the Xs axisbecomes a horizontal direction.

The angular velocity sensor X is capable of detecting the camera shakingbased on an up-and-down motion as shown in the direction of an arrow Ain FIG. 2(a). The angular velocity sensor X detects the rotation aroundan axis in parallel with the Xs axis, which is called shaking in apitching direction.

Similarly, the angular velocity sensor Y is capable of detecting thecamera shaking based on a side-to-side motion as shown in the directionof an arrow B in FIG. 2(a). The angular velocity sensor Y detects therotation around an axis in parallel with the Ys axis, which is calledshaking in a yawing direction.

Therefore, the angular velocity sensors X and Y are capable of detectingthe camera shaking corresponding to yawing and pitching direction.

According to FIG. 2(a), the angular velocity sensors X are shown outsideof the camera body 10 for the sake of the explanation of the presentembodiment. However, the real position of the above angular velocitysensors X, Y is in the camera body 10.

The board 15 is equipped with the CCD 12 via a support board and a pairof Bimorph actuators 17 and 18, and the controller 16. The Bimorphactuators 17, 18 actuate the position of the CCD 12 via the supportboard toward XY direction each other under control of the controller 16.

Now referring to FIG. 2(b), the support board is equipped with a pair ofBimorph actuators 17 for the Y direction and a pair of Bimorph actuators18 for the X direction. The CCD 12 is located on the top of the pairs ofBimorph actuators 17, 18 on an opposite side to the board 15. Theposition of the CCD device 12 is controlled based on the controller 16equipped with the board 15. When the pair of Bimorph actuators 18 forthe Y direction is driven, the CCD device 12 moves along the Ysdirection. When the pair of Bimorph actuators 17 for the X direction isdriven, the CCD device 12 moves along the Xs direction.

Now referring to FIG. 3, the signal of the angular velocity sensor Xlocated on the Xs axis is described. The output signal of the sensorsgenerally becomes a wave similar to a sinusoidal wave each other whenthe sensors detect the camera shaking.

In points of maximum value or points of minimum value in the signal, theangle regulation at those points is the smallest in the signals.

Therefore, the correction process and the shooting process are bothcarried out at the points of the maximum value or minimum value.

Now referring to FIG. 4, the signals of the angular velocity sensors aredescribed each other. The signals from the angular velocity sensors donot synchronize.

In the above mentioned, the camera shakings based on the pitchingdirection and the yawing direction exert an influence upon the qualityof the shooting image. The angular velocity sensor X is located on theXs axis for sensing the camera shaking toward pitching direction. Theangular velocity sensor Y is also located on the Ys axis for sensing thecamera shaking toward yawing direction.

Therefore, when the system detect one of the camera shaking toward tothe yawing or pitching direction at the time corresponding to the pointof maximum or minimum value, the system corrects only one camera shakingbecause the camera shaking in which exist the maximum or minimum valuebecome a negligible amount. The system is equipped with the only oneactuator in order that the size of the camera is small.

Now referring to FIG. 5, the correction process is described.

At first, the system starts to detect the camera shaking toward twodirections of the axis when a user holds the camera at a step S1.

The process proceed to a step S2, the camera calculates the periodicityof the signal corresponding to Xs direction.

The process proceeds to the next step S3. The system also calculates theinterval time T1 corresponding to the time from the maximum value to thenext maximum value or from the maximum value to the next minimum valuebased on the periodicity T at a step S3.

Finally, the process proceeds to next step S4. At the step S4, thesystem only adjusts the position of the optical device along the Ys axiscorresponding to the yawing direction while close by the next minimumvalue or the next maximum value and carries out the shooting at thatminimum value or that maximum value, after the angular velocity sensor Xdetects the maximum value.

The system of the present invention only has one actuator correspondingto the axis among the camera coordinate.

Therefore, the size of the camera is smaller than the one of the priorcamera.

In the above embodiment, the angular velocity sensors are located on Xsand Ys axes. But, the angular velocity sensors are capable of locatingYs and Zs axes or Xs and Zs axes.

Now referring to FIG. 6(a), (b), a second embodiment in which a pair ofvoice coil motors 27 is employed as actuators for driving the CCD 12 isdescribed. A voice coil motor 27 is a driver for the position in the Ysdirection of the CCD 12. The other voice coil motor 28 is a driver forthe position in the Xs direction of the CCD 12. Both voice coil motors27, 28 are attached with the support board 19 and adjust the position ofthe CCD 12 via the support board 19 under control of the controller 16as shown FIG. 6(a). The other elements in FIG. 6(a), (b) are the same asin the first embodiment, and therefore a redundant explanation except tothe pair of the voice coil motors 27, 28 has been omitted.

Now referring to FIG. 7, a third embodiment is described in thisembodiment, the actuator for CCD 12 does not exist. Therefore, theposition of the CCD 12 is fixed.

When the MPU 60 input the trigger signals from the trigger device 61,the angular velocity sensors X, Y start to detect the angular velocityby the camera shaking under control the MPU 60. The lens 11 may beformed of a fixed lens 121, a shutter S, a correction lens 122, and afocus lens 123. The focus lens 123 is held in the lens 11, and can movetoward the optical axis. After an actuator 56 moves the focus lens 123along the optical axis, a position detector 55 detects the position ofthe focus lens 123 on the optical axis. The detected position data ofthe focus lens 123 is forwarded to a MPU 60. The MPU 60 then controlsthe position of the focus lens 123 according to control programs.

The correction lens 122 is a lens for adjustment of the camera shakingand is capable of moving toward to the direction of Ys axis. An actuator54 moves the correction lens 122 under control the MPU 60. The positiondetectors 51 can detect the position of the correction lens 122 afteradjustment.

The actuator 54 and position detectors 51 are a part of a mechanicalpotion for the correction of the camera shaking. The MPU 60 is a part ofthe controller 16. The controller 16 controls the actuators 54, 56according to the angular velocity detected by the angular velocitysensors X and Y and position information of position detector 51.

A trigger device 61, such as a shutter release button, generates atrigger signal when the shutter release button is pushed to a halfwayposition. When the trigger signal is generated, the controller inputselectric power into the angular velocity sensors and the drivers of theactuators.

The angular velocity sensors and the drivers only require the electricpower during taking a shot. Therefore, the electric power supplycontrolled according to the trigger signal avoids electric power loss.

The above embodiment is also capable of employing a magnetostrictiondevice or an ultrasound motor, as other examples.

Now referring to FIG. 8, in a fourth embodiment, the camera substitutesa correct lens for a Vari-angle prism.

A vari-angle prism 65 is located in the optical system on the opticalaxis. The vari-angle prism can control a variable rotation angle asshown in FIG. 9(a) and (b). The structure of the vari-angle prism 65 maybe that two optically transparent boards are connected with an accordiondevice and sandwich a liquid with a high refractive index with thetransparent boards. The controller controls the variable rotation angleof the prism 65 according to the camera shaking. One example of detailsof an explanation of the Vari-angle prism can be found in WWW site URL“http://www.usa.canon.com/indtech/broadcasteq/vaplens.html”, thecontents of this reference being incorporated herein by reference.

Still referring to FIG. 9(a), when the camera shaking does not occur,the variable rotation angle equals zero. When the camera shaking doesoccur, the variable rotation angle is controlled according to thedetected angular velocity, and calculated angular velocity and angleunder control of the controller as shown FIG. 9(b).

The other elements in FIG. 8 are the same as in the third embodiment,and therefore a redundant explanation has been omitted.

Now referring to FIG. 10, another embodiment of the angular velocitysensors in the camera 1 with the correction mechanism is described. Thecamera according to fifth embodiment has two pairs of accelerationsensors on each axis of the camera coordinate instead of thepiezoelectric gyro sensor in the first embodiment.

A pair of acceleration sensors X1, X2, a pair of acceleration sensorsZ1, Z2 are located on Xs, Zs axis each other. The camera 1 includes acamera body 10 and a lens 11. The pair of acceleration sensors X1, X2,the pair of acceleration sensors Z1, Z2, an image pickup device 12 suchas CCD, a board 15 equipped with a controller 16, and actuators 17, 18are set up in the camera body 10. The CCD 12 is supported on a supportboard 19 located on the board via Bimorph actuators 17 and 18. Thecamera 1 brings into focus a target object in which is located an objectposition (Ob). The image corresponding to the target object is in focusat an imaging surface of the CCD 12 by lens 11.

The pair of acceleration sensors Z1, Z2 is located on the optical axis.The camera coordinate system is defined such that the direction of theoptical axis is the Zs axis, the gravity direction is the Ys axis, andthe horizontal direction perpendicular to both the Zs axis and the Ysaxis is the Xs axis. In the above camera coordinate system, the point oforigin is at a center of the imaging surface of the CCD 12.

When an operator holds the camera 1 at a general position, the YZ planebecomes a vertical plane against a horizontal plane, and the Xs axisbecomes a horizontal direction.

The pair of acceleration sensors Z1, Z2 is capable of detecting anup-and-down motion based on the camera shaking, which is called shakingin a pitching direction as shown in the direction of an arrow A in FIG.10. The pair of the acceleration sensors Z1, Z2 is located apart fromeach other at a predetermined distance in the optical direction. Thepair of accelerator sensors Z1, Z2 detects the rotation around an axisin parallel with the Xs axis.

Similarly, the pair of acceleration sensors X1, X2 is capable ofdetecting a side-to-side motion based on the camera shaking, which iscalled shaking in a yawing direction as shown in the direction of anarrow B in FIG. 10. The pair of the acceleration sensors X1, X2 islocated apart from each other at a predetermined distance in the Xsdirection. The pair of acceleration sensors X1, X2 detects the rotationaround an axis in parallel with the Ys axis.

Therefore, the two pairs of acceleration sensors X1, X2 and Z1, Z2 arecapable of detecting the camera shaking corresponding to yawing andpitching which are susceptible to taking an image.

The system is also capable of employing two sets of the accelerationsensors X1, X2 and Y1, Y2 or two sets of the acceleration sensors Z1, Z2and Y1, Y2.

In this case, the pair of the acceleration sensors Y1, Y2 is locatedapart from each other at a predetermined distance in the Ys direction.

Still referring to FIG. 10, the pair of acceleration sensors X1, X2 isshown outside of the camera body 10 for the sake of the explanation ofthe present embodiment. However, the real position of the above pairs ofacceleration sensors X1, X2 and Z1, Z2 is in the camera body 10.

The support board 19 equipped with a pair of Bimorph actuators 17 forthe Y direction and a pair of Bimorph actuators 18 for the X directionis same as the first embodiment.

Now referring to FIG. 11, the pair of acceleration sensors Z1, Z2detects the camera shaking in the pitching direction according to thecamera shaking.

FIG. 11 shows a drawing of a cross-section of the YZ plane.

When the camera body 10 is inclined at an angle θ toward Ob in the YZplane as a result of up-and-down motion of the camera, the output of theacceleration sensor Z1 is acceleration A1 at a distance L 1′ from Ob,and the output of the acceleration sensor Z2 is acceleration A2 at adistance L2 from Ob. The accelerations A1 and A2 are described in thefollowing equations (1), (2). In the equations (1), (2), a) is rotationangular velocity, and t is time. $\begin{matrix}{{A1} = {L_{1}^{\prime}\left( \frac{\mathbb{d}\omega}{\mathbb{d}t} \right)}} & (1) \\{{A2} = {L_{2\quad}^{\prime}\left( \frac{\mathbb{d}\omega}{\mathbb{d}t} \right)}} & (2)\end{matrix}$When equation (1) is subtracted from equation (2). $\begin{matrix}{{{A2} - {A1}} = {\left( \frac{\mathbb{d}\omega}{\mathbb{d}t} \right)\left( {L_{2\quad}^{\prime} - L_{1}^{\prime}} \right)}} & (3)\end{matrix}$

The distance (L2′−L 1′) equals the distance between the position ofacceleration sensor Z1 and position of the acceleration sensor Z2,(L2−L1). The distance (L2−L1) is a predetermined unique value for eachcamera. Further, the subtraction of the accelerations (A2−A1) can becalculated based upon the output of the pair of the acceleration sensorsZ1, Z2. Therefore, the angular acceleration (dω/dt) can be obtained fromthe above equations (1), (2), (3).

Proceeding to a next step, before the exposure is carded out, a positionof the camera 1 is defined as an initial position and an initial time isdefined as t=0 at the initial position. During exposure, the angularacceleration (dω/dt) is integrated with respect to t between every timeinterval, which are divided plural time sectors from t=0 to the totalexposure time period. The angular velocity ω and the rotation angle θ isthen calculated.

A camera shaking by rotation around an axis in parallel with the Ys axisbased on the side-to-side motion of the camera is similarly calculatedbased upon the output of the pair of acceleration sensors X1, X2.

Now referring to FIG. 12, a sixth embodiment in which a pair of voicecoil motors 27 is employed as actuators for driving the CCD 12 isdescribed as same as the second embodiment. The other elements in FIG.12 are the same as in the fifth embodiment, and therefore a redundantexplanation has been omitted.

Now referring to FIG. 13, a seventh embodiment in which a pair ofmultilayer piezoelectric actuators 37, 38 is employed as actuators fordriving the CCD 12 is described. The multilayer piezoelectric actuator37 is a driver for the position in the Xs direction of the CCD 12. Theother multilayer piezoelectric actuator 38 is a driver for the positionin the Ys direction of the CCD 12. Both multilayer piezoelectricactuators 37, 38 are also attached with the support board 19 and adjustthe position of the CCD 12 via the support board 19 under control of thecontroller 16. The other elements in FIG. 12 are the same as in thefifth embodiment, and therefore a redundant explanation except of thepairs of the multilayer piezoelectric actuators 37, 38 has been omitted.

Now referring to FIG. 14, when a rotation θx around an axis in parallelwith the Xs axis occurs as a result of the camera shaking, a focus pointof the object moves out from an initial point O to a point C. The amountof deviation between the initial point O and the point C is defined asΔY.

The focus distance of the lens 11 is f. The distance L′ is a distancebetween the focus point of the lens 11 and the image focusing point inthe CCD 12. The distance L is a distance between the focus point of thelens 11 and the point of the object. A detail of the explanation of thedistances L, L′ is described in “Point To Note and How to Use of OpticalDevice in Order to Use the Optelectronics Technique”, by Tetsuo Sueda,Optelectronics, P36-37, the contents of this reference beingincorporated herein by reference.

A scaling β is defined as β=f/L. And, L′=f²/L.ΔY=(1+β)² ·θx·f  (4)The following equation is derived from the above equation (4)differentiated with respect to time t. $\begin{matrix}{\frac{\mathbb{d}\left( {\Delta\quad Y} \right)}{\mathbb{d}t} = {\left( {1 + \beta} \right)^{2} \cdot f \cdot \left( \frac{{\mathbb{d}\theta}\quad x}{\mathbb{d}t} \right)}} & (5)\end{matrix}$Similarly, the equation (6) is also derived from an equationdifferentiated with respect to time t when a rotation θy around an axisin parallel with the Ys axis occurs as a result of the camera shaking, afocus point of the object moves out from the initial point 0 to point C.$\begin{matrix}{\frac{\mathbb{d}\left( {\Delta\quad X} \right)}{\mathbb{d}t} = {\left( {1 + \beta} \right)^{2} \cdot f \cdot \left( \frac{{\mathbb{d}\theta}\quad y}{\mathbb{d}t} \right)}} & (6)\end{matrix}$The vales dθx/dt and dθy/dt can be derived from the integrated value ofthe dto/dt in the equations (1) and (2). Therefore, the values ΔX and ΔYare derived from the above equations.

The values ΔX and ΔY are values that the distance of the image focusingpoint in the CCD 12 should be corrected by the adjustment of theposition of the CCD 12, or the optical system.

Now referring to FIG. 15, the outputs of the pair of the accelerationsensors Z1, Z2 are input to filters 31, 32. The filters 31, 32 are madeup of a low pass filter and a high pass filter. The high pass filtercuts a DC (direct current) component corresponding to the component ofthe gravity acceleration. The high pass filter is capable of reducingthe offset noise at the position that the camera stands still. Asanother solution for reducing the offset noise at the position that thecamera stands still, the system can detect the DC component of thecamera shaking detector, and then subtract the DC component which isdefined as the offset value from the detected signals. The low passfilter of filters 31, 32 cuts the component of the frequency more than20 Hz in the output of the acceleration sensors.

A similar structure is employed for filters 33, 34 which receive outputsfrom the accelerator sensors X1, X2.

Referring to FIG. 16(a) and 16(b), when the camera body is made ofaluminum, the general deviation of the angular velocity according totime is described. The power spectrum corresponding to the deviation ofthe angular velocity is described in FIG. 16(b). The time deviation ofthe power 30spectrum of the angular velocity in the camera shakingdepends on less than 20 Hz according to FIG. 16(b).

Therefore, when a frequency component greater than 20 Hz of the powerspectrum is cut by the low pass filter of filters 31, 32, the filterreduces noise or undesired signals, and finally gains the desired signalfor the correction of the camera shaking.

Still referring to FIG. 15, the acceleration values reduced by theundesired signals by each filter 31, 32, 33, 34 is input to angularacceleration calculators 35 and 36. Angular acceleration calculators 35,36 calculate the angular acceleration based upon the above equations.Each calculated angular acceleration is input in integrators 37 and 38.The integrators 37 and 38 integrate the angular acceleration intoangular velocity based upon the above equations and further integratethe angular velocity into angles.

A correction calculator 39 inputs the calculated angular velocity andthe angle, and calculates the amount of movement of the actuators. Anactuator driver 140 drives actuators according to the above amount ofmovement.

Finally, the CCD 12 is adjusted to the proper positioning based on thedriving of the actuators.

Now referring to FIG. 17, It may be desired that shooting process iscarried out at the point where the maximum value or the minimum value isdetected.

The delayed time from the former point detected the maximum value iscalculated according to the exposure period of which the center of theexposure time exist at the point where the next maximum value or thenext minimum value of the camera shaking.

Therefore, as shown FIG. 17, when the exposure periods T1 and T2 setpredetermined value each other, the delayed time t1, t2 areautomatically determined.

Now referring to FIG. 18, light detectors Xp1, Xp2, Yp1, Yp2 and a lightemitter P are employed in the camera.

The light detectors Xp1, Xp2, Yp1, Yp2 and the light emitter P elementare attached on the side of the photographic subject.

The light emitter emits the light to the photographic subject. The lightdetectors Xp1, Xp2, Yp1, Yp2 detect the reflected light from the subjectand generates the current according to the amount of reflected light.

The camera system is capable of calculating the inclination from XYplane based on the above currents.

An inclination from Xs axis is defined as Δθx. An inclination from Ysaxis is defined as Δθy.

Δθx and Δθy are calculated based on the above each currents Ixp1, Ixp2,Iyp1, Iyp2 by following equations. (7),(8). $\begin{matrix}{{{\Delta\theta}\quad x} = {\frac{K_{XP1}}{\sqrt{I_{XP1}}} - \frac{K_{XP2}}{\sqrt{I_{XP2}}}}} & (7) \\{{{{\Delta\theta}\quad y} = {\frac{K_{YP1}}{\sqrt{I_{YP1}}} - \frac{K_{YP2}}{\sqrt{I_{YP2}}}}}{K_{XP1},K_{XP2},K_{YP1},K_{YP2}}} & (8)\end{matrix}$

The other elements in FIG. 18 are the same as in the above embodiment,and therefore a redundant explanation has been omitted.

The camera detects the periodical time of the output signals from thelight detectors and the time corresponding to the maximum or minimumvalue generates.

The camera carries out the correction for the camera shaking and theshooting at the time when the latter maximum or minimum value generates.

It is to be understood, however, that even though numerouscharacteristics and advantages of the present invention have been setforth in the foregoing description, together with details of thestructure and function of the invention, the disclosure is illustrativeonly, and changes may be made in detail, especially in matters of shape,size and arrangement of parts, as well as implementation in software,hardware, or a combination of both within the principles of theinvention to the full extent indicated by the broad general meaning ofthe terms in which the appended claims are expressed.

The present document is based on Japanese priority document 10-353,791filed in the Japanese Patent Office on Nov. 30, 1998, the entirecontents of which are incorporated herein by reference.

Obviously, numerous additional modifications and variations of thepresent invention are possible in light Of the above teachings. It istherefore to be understood that within the scope of the appended claims,the present invention may be practiced otherwise than as specificallydescribed herein.

1. A detecting system for a deviation of a camera from shaking,comprising: a first shaking detector configured to detect a camerashaking located on one axis of a camera coordinate; a second shakingdetector configured to detect a camera shaking located on another axisof the camera coordinate; a maximum or minimum value detector configuredto detect a maximum or minimum value of the camera shaking on the secondshaking detector; and a correcting device configured to adjust anoptical system corresponding to the axis on which the first shakingdetector is located.
 2. A detecting system for a deviation of a camerafrom shaking, comprising: a first shaking detector configured to detecta camera shaking located on one axis of a camera coordinate; a secondshaking detector configured to detect a camera shaking located onanother axis of the camera coordinate; a maximum or minimum valuedetector configured to detect a maximum or minimum value of the camerashaking on the second shaking detector; and a correcting deviceconfigured to adjust a position of an optical device toward to the axison which the first shaking detector is located.
 3. The detecting systemfor a deviation of a camera from shaking according to the claim 2,wherein the correcting device configured to adjust a position of theoptical device toward to the axis of on which the first shaking detectorafter the maximum or minimum value of the shaking is detected.
 4. Thedetecting system for a deviation of a camera from shaking according tothe claim 2, wherein the first shaking detector and the second shakingdetector are located on two axes of the camera coordinate each other. 5.The detecting system for a deviation of a camera from shaking accordingto the claim 2, wherein the first shaking detector and the secondshaking detector are located on the axes of the camera coordinate exceptfor the optical axis.
 6. The detecting system for a deviation of acamera from shaking according to claim 1, further comprising: themaximum or minimum value of the camera shaking is detected from one ofthe first shaking detector or the second shaking detector.
 7. Thedetecting system for a deviation of a camera from shaking according tothe claim 1, wherein the shaking detectors are two pair of accelerationsensors.
 8. The detecting system for a deviation of a camera fromshaking according to the claim 1, wherein the shaking detectors are twogyroscopes.
 9. The detecting system for a deviation of a camera fromshaking according to the claim 1, wherein one of the shaking detectorsis pair of acceleration sensors and the other shaking detector is gyrosensor.
 10. An apparatus for detecting a deviation of a camera fromshaking, comprising: a shaking detector configured to detect a shakingof the camera located on a camera coordinate; a calculator configured tocalculate rotation angles around each of said axes; and a rotationregulator configured to rotate an image pickup device around an opticalaxis of the camera or an axis in parallel with the optical axis.
 11. Anapparatus for detecting a deviation of a camera from shaking accordingto claim 1, further comprising: an actuator configured to adjust aposition of lens in the optical system.
 12. A detecting apparatus for adeviation of a camera from shaking, comprising: a first shakingdetecting means for detecting a camera shaking located on one of acamera coordinate axes; a second shaking detecting means for detecting acamera shaking located on another axis of the camera coordinate; amaximum or minimum value detecting means for detecting a maximum orminimum value of the camera shaking in the second shaking detector; anda correcting means for adjusting an optical system corresponding to theaxis on which the first shaking detector is located.
 13. A detectingapparatus for a deviation of a camera from shaking, comprising: a firstshaking detecting means for detecting a camera shaking located on one ofa camera coordinate axes; a second shaking detecting means for detectinga camera shaking located on another axis of the camera coordinate; amaximum or minimum value detecting means for detecting a maximum orminimum value of the camera shaking in the second shaking detector; anda correcting means for adjusting a position of an optical device towardto the axis on which the first shaking detector is located.
 14. Thedetecting apparatus for a deviation of a camera from shaking accordingto the claim 11, wherein the correcting means for adjusting a positionof the optical device toward to the axis of on which the first shakingdetecting means after the maximum or minimum value is detected.
 15. Thedetecting apparatus for a deviation of a camera from shaking accordingto the claim 11, wherein the first shaking detecting means and thesecond shaking detecting means are located on two axes of the cameracoordinate.
 16. The detecting apparatus for a deviation of a camera fromshaking according to the claim 11, wherein the first shaking detectingmeans and the second shaking detecting means are located on the axesexcept for the optical axis.
 17. The detecting apparatus for a deviationof a camera from shaking according to claim 11, further comprising: themaximum or minimum value of the camera shaking is detected from one ofthe first shaking detecting means or the second shaking detecting means.18. An apparatus for detecting a deviation of a camera from shaking,comprising: a shaking detecting means for detecting a camera shakingbased upon angular velocity on a camera coordinate axes; a calculatingmeans for calculating rotation angles of each of said axes based on theoutput of the angular velocity sensing means; and a rotation regulatingmeans for rotating an image pickup device around an optical axis of thecamera or an axis in parallel with the optical axis.
 19. An apparatusfor detecting a deviation of a camera from shaking according to claim11, further comprising: an actuating means for adjusting a position oflens.
 20. A method of detecting a deviation of a camera from shaking,comprising the steps of: detecting a camera shaking located on two axisof a camera coordinate each other; detecting a maximum or minimum valuesof the camera shaking on one of the axis; and adjusting a position of anoptical device in the other axis.
 21. The method of detecting system fora deviation of a camera from shaking according to claim 19, furthercomprising the steps of: adjusting a position of the optical devicetoward to the axis of on which the first shaking detector after themaximum or minimum value is detected.
 22. The method of detecting systemfor a deviation of a camera from shaking according to the claim 19,further comprising the steps of: detecting the camera shaking on theaxes except for the optical axis.
 23. The method of detecting system fora deviation of a camera from shaking according to the claim 19, furthercomprising the steps of detecting the maximum or minimum value from oneof the first shaking detector or the second shaking detector.
 24. Themethod of detecting a deviation of a camera from shaking, comprising:detecting a shaking of the camera based upon an output from angularvelocity sensors located on camera coordinate axes; calculating rotationangles of each of said axes based on the output of the angular velocitysensors; and rotating an image pickup device around an optical axis ofthe camera or an axis in parallel with the optical axis.
 25. A method ofdetecting a deviation of a camera from shaking, comprising the steps of:detecting a camera shaking located on two axis of a camera coordinateeach other; detecting a maximum or minimum value of the camera shakingon one of the axis; adjusting a position of an optical device in theother axis; and shifting a timing of the exposure to close by a timinglocated on the maximum or minimum value of the camera shaking based on aperiodicity of the detected camera shaking.